diff --git a/PIDTesting-2yoke4coil/Controller.cpp b/PIDTesting-2yoke4coil/Controller.cpp
index 7f42115..919ee7e 100644
--- a/PIDTesting-2yoke4coil/Controller.cpp
+++ b/PIDTesting-2yoke4coil/Controller.cpp
@@ -58,10 +58,10 @@ void FullController::sendOutputs() {
 }
 
 void FullController::avgControl() {
-  float avg = (Left.mmVal + Right.mmVal + Front.mmVal + Back.mmVal) / 4.0;
-  float eCurr = AvgRef - avg; // assuming up is positive and down is negative
+  float avg = (Left.mmVal + Right.mmVal + Front.mmVal + Back.mmVal) * 0.25f;
+  float eCurr = AvgRef - avg;
 
-  avgError.eDiff = (tDiff == 0) ? 0:(eCurr - avgError.e) / tDiff; // rise over run
+  avgError.eDiff = (tDiff == 0.0) ? 0:(eCurr - avgError.e) / tDiff; // rise over run
   avgError.eInt += eCurr * tDiff;
   avgError.eInt = constrain(avgError.eInt, -MAX_INTEGRAL_TERM, MAX_INTEGRAL_TERM);
   avgError.e = eCurr;
@@ -74,7 +74,7 @@ void FullController::LRControl() {
   float eCurr = diff - LRDiffRef; // how different is that from the reference? positive -> Left repels, Right attracts.
   K_MAP rConsts = {LConsts.attracting, LConsts.repelling}; // apply attracting to repelling and vice versa.
 
-  LRDiffErr.eDiff = (tDiff == 0) ? 0:(eCurr - LRDiffErr.e) / tDiff;
+  LRDiffErr.eDiff = (tDiff == 0.0) ? 0:(eCurr - LRDiffErr.e) / tDiff;
   LRDiffErr.eInt += eCurr * tDiff;
   LRDiffErr.eInt = constrain(LRDiffErr.eInt, -MAX_INTEGRAL_TERM, MAX_INTEGRAL_TERM);
   LRDiffErr.e = eCurr;
@@ -88,7 +88,7 @@ void FullController::FBControl() {
   float eCurr = diff - FBDiffRef; // how different is that from ref? pos.->Front must repel, Back must attract
   K_MAP bConsts = {FConsts.attracting, FConsts.repelling};
 
-  FBDiffErr.eDiff = (tDiff == 0) ? 0:(eCurr - FBDiffErr.e) / tDiff;
+  FBDiffErr.eDiff = (tDiff == 0.0) ? 0:(eCurr - FBDiffErr.e) / tDiff;
   FBDiffErr.eInt += eCurr * tDiff;
   FBDiffErr.eInt = constrain(FBDiffErr.eInt, -MAX_INTEGRAL_TERM, MAX_INTEGRAL_TERM);
   FBDiffErr.e = eCurr;
diff --git a/PIDTesting-2yoke4coil/Controller.hpp b/PIDTesting-2yoke4coil/Controller.hpp
index 2988335..eb5272d 100644
--- a/PIDTesting-2yoke4coil/Controller.hpp
+++ b/PIDTesting-2yoke4coil/Controller.hpp
@@ -100,6 +100,6 @@ class FullController {
     int16_t FRPrev;
     int16_t BRPrev;
 
-    unsigned int tDiff;
+    float tDiff;
 };
 #endif // CONTROLLER_HPP
\ No newline at end of file
diff --git a/PIDTesting-2yoke4coil/IndSensorMap.hpp b/PIDTesting-2yoke4coil/IndSensorMap.hpp
index 24a8b9b..0705fd9 100644
--- a/PIDTesting-2yoke4coil/IndSensorMap.hpp
+++ b/PIDTesting-2yoke4coil/IndSensorMap.hpp
@@ -5,11 +5,11 @@
 
 // Inductive Sensor Mapping Struct
 typedef struct IndSensorMap {
-  double A;
-  double K;
-  double B;
-  double C;
-  double v;
+  float A;
+  float K;
+  float B;
+  float C;
+  float v;
 } IndSensorMap;
 
 class IndSensor {
diff --git a/PIDTesting-2yoke4coil/PIDTesting-2yoke4coil.ino b/PIDTesting-2yoke4coil/PIDTesting-2yoke4coil.ino
index a5566e6..0a9ad32 100644
--- a/PIDTesting-2yoke4coil/PIDTesting-2yoke4coil.ino
+++ b/PIDTesting-2yoke4coil/PIDTesting-2yoke4coil.ino
@@ -60,12 +60,11 @@ void setup() {
 
 void loop() {
   if (Serial.available() > 0) {
-    String inputString = Serial.readStringUntil('\n');  // Read the full input
-    inputString.trim();  // Remove leading/trailing whitespace, including \n and \r
+    // this might need to be changed if we have trouble getting serial to read. 
+    char c = Serial.read();
+    while(Serial.available()) Serial.read(); // flush remaining
 
-    // determine whether control is on or off based on serial input.
-    if (inputString == "0") controller.outputOn=0;
-    else controller.outputOn=1;
+    controller.outputOn = (c != '0');
   }
   
   tDiffMicros = micros() - tprior;